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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers, Part D. Journal of Automobile Engineering >Robust dynamic surface control of vehicle lateral dynamics using disturbance estimation
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Robust dynamic surface control of vehicle lateral dynamics using disturbance estimation

机译：利用干扰估算的鲁棒动态表面控制车辆横向动力学

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This paper reports a disturbance estimation-based dynamic surface control method for stabilizing vehicle lateral dynamics through yaw moment control. Based on the single track vehicle model, an uncertain model of the vehicle lateral dynamics is developed which represents the effect of parametric uncertainty and lateral tire force nonlinearity by mismatched, lumped total disturbances. In this model, the longitudinal velocity of the vehicle is considered as a time-varying parameter. Using the developed mathematical vehicle model, an extended state observer is proposed to estimate the total disturbance signals. Next, a dynamic surface controller is designed with the objective of tracking the desired lateral velocity generated by a linear two-degrees-of-freedom vehicle dynamics. The dynamic surface controller uses the estimated disturbances of the extended state observer as feedforward inputs to compensate for the effects of the total disturbances. To achieve an improved robust performance against disturbance estimation errors, the H ∞ control technique is incorporated into the DSC design. To this end, using a norm-bounded representation of the longitudinal velocity, the control design is formulated as the feasibility of a finite number of linear matrix inequalities. The stability and robustness of the extended state observer and the dynamic surface control systems are analyzed in a Lyapunov framework and the required mathematical proofs are presented. Considering a lane change and a J-turn maneuver, extensive numerical simulations are performed to show the effectiveness of the proposed control system. The results confirm the improved performance of the closed-loop system compared to the open-loop one, in various driving and road conditions.
机译：本文报道了一种基于扰动估计的动态表面控制方法，用于通过横摆力控制稳定车辆横向动力学。基于单轨道车辆模型，开发了一种不确定的车辆横向动力学模型，其表示参数化不确定性和横向轮胎力非线性的效果通过不匹配，集成的总干扰。在该模型中，车辆的纵向速度被认为是时变参数。使用开发的数学车辆模型，提出了扩展状态观察者来估计总干扰信号。接下来，设计动态表面控制器，其目的是跟踪由线性两度自由度车辆动态产生的所需的横向速度。动态表面控制器使用扩展状态观察者的估计干扰作为前馈输入，以补偿总干扰的效果。为了实现对抗扰动估计误差的改进的鲁棒性能，将H∞控制技术结合到DSC设计中。为此，使用纵向速度的常态表示的常态表示，控制设计被配制成有限数量的线性矩阵不等式的可行性。在Lyapunov框架中分析了扩展状态观察者和动态表面控制系统的稳定性和鲁棒性，并提出了所需的数学证据。考虑到车道改变和J键机动，进行了广泛的数值模拟以显示所提出的控制系统的有效性。结果证实了与敞开环路相比，闭环系统的改进性能，在各种驾驶和道路条件下。

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